A Gazebo plugin to simulate underwater vehicles.
The package builds two Gazebo plugins:
- freebuoyancy_gazebo (model plugin) simulates buoyancy and viscous force from water
git clone https://github.com/bluerobotics/freebuoyancy_gazebo cd freebuoyancy_gazebo mkdir build cd build cmake .. make sudo make install
source gazebo.sh gazebo worlds/freebuoyancy_demo.world -u
If you are running gazebo7, probably you'll find a bug in the GAZEBO_PLUGIN_PATH env variable. To solve that issue, it's necessary to move all plugins to the correct path.
sudo cp -a /usr/lib/x86_64-linux-gnu/gazebo-7.0/plugins/ /usr/lib/x86_64-linux-gnu/gazebo-7/
This plugin is based on the original repository of freefloating_gazebo, this is only a rework to use without ROS.